Hi and welcome to the forums!
Writing down your dreams is something that is very key to lucid dreaming since it helps you to improve recall as well as find dream signs, recurring themes that can help you to become lucid. You write them down in what's called a dream journal, or DJ. The situation you described is indeed a lucid dream. Lucid simply means that you are aware of the fact that you are dreaming while in the dream. Control is a different aspect which doesn't need to be present in a lucid dream and vice-versa.
Some tips are to, of course, start a DJ. It sounds like you already do for vivid dreams but be sure to write down any and all dreams you can remember. I also suggest you read through some of the various induction techniques and pick one that works for you since everyone seems to have their favorite. The two main categories are WILD (wake induced lucid dream - going directly from a waking state into a dream without any lapse in consciousness) and DILD (dream induced lucid dreaming - realizing you are dreaming while in the dream). Most people find DILD and its various adaptations to be easiest when first starting out.
You should also learn about various reality checks (RC) which you preform to check whether or not you are dreaming. Some of these include plugging your nose and trying to breathe through it (in a dream you can breathe just find), looking at your hands (in a dream there are often extra/missing fingers and various malformations), looking at text (it often appears jumbled or in strange symbols), and looking at a clock, turning away, then looking back (it will often change drastically. Not just 1-2 minutes but hours or even display impossible times like 28:83). Once you do all this you should be right on track to having your first lucid dream in no time
Also, check out the DVA (dreamviews academy) in which there are various classes taught by members here on the forum which have a lot of experience with dreaming. The classes range from a WILD class to a general intro course which I recommend you join. We have chat normally on Mon Tue Thur Fri at noon and 8PM CST though they are subject to change. The definite times can be found here.
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